CN105867268B - Engineering machinery method of controlling security, system and engineering machinery - Google Patents
Engineering machinery method of controlling security, system and engineering machinery Download PDFInfo
- Publication number
- CN105867268B CN105867268B CN201610209437.5A CN201610209437A CN105867268B CN 105867268 B CN105867268 B CN 105867268B CN 201610209437 A CN201610209437 A CN 201610209437A CN 105867268 B CN105867268 B CN 105867268B
- Authority
- CN
- China
- Prior art keywords
- electrical component
- safety
- communication bus
- safe
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Abstract
The present invention discloses a kind of engineering machinery method of controlling security, system and engineering machinery.The engineering machinery safety control system includes：Turntable safety governor and safe input/output module of getting off, wherein safe input/output module of getting off is connect by the first safe communication bus with turntable safety governor；Security related information and non-safety-related information are transmitted by the first safe communication bus.The present invention allows security related information and non-safety-related information to save cost to simplify route by same root communication bus cable transmission by using safety governor, the safe input/output module of supporting safe communication bus agreement.
Description
Technical field
The present invention relates to engineering machinery security control field, in particular to a kind of engineering machinery method of controlling security, system
And engineering machinery.
Background technique
Aerial work platform be for transport personnel, tool and material to designated position operation equipment, by controllably working
The multifunctional special engineering truck of platform, extension means and chassis composition, chassis are shaped road vehicle, and by pilot control
Its movement is high-altitude operation vehicle, and use self-propelled frame then for self-propelled aloft working platform.Aerial work platform is answered
It is extremely wide with range, it has been applied to electric power, fire-fighting, traffic, exterior walls of buildings decoration and cleaning, garden maintenance, communication apparatus and has tieed up
A variety of industries and the place such as shield and maintenance.Since aerial work platform is for manned high altitude operation, so must satisfy load
" high security " requirement of people's high altitude operation.
The control system of high-altitude operation vehicle is generally made of controller, sensor, actuator and communication system.With high-altitude
Operation automation and intelligentized development, the component in control system is more and more, and the wire laying mode of traditional point-to-point can be led
Number of conductors is caused to be multiplied, harness is more and more huger.Complicated and in disorder harness increases the failure rate of control system, drop
The low reliability of high-altitude operation vehicle.In addition, high-altitude operation vehicle get on and off between route pass through slip ring connect.Excessive harness increases
Add the quantity of slip-ring brush, to increase cost.In order to simplify route, field bus technique is applied in control system.Due to
CAN (Controller Area Network, controller local area network) bus signal line quantity is few, transmission rate is fast, networking from
Strong, high reliablity, advantage of lower cost by, dilatancy, therefore in high altitude operation vehicle control, it is total to become main scene
Line.
But security information error of transmission is caused since fieldbus will receive the factors such as interference, hardware fault, it causes to pacify
Global function failure.Even if after applying CANopen upper-layer protocol, it is also difficult to meet the requirement of security information transmission reliability.For
Solution disabler bring is dangerous, and American-European countries has started functional safety technical application.In European Union's aerial work platform mark
Quasi- EN280:In 2013, explicitly points out control system and need to meet functional safety requirement, and security performance class requirement highest
For PLd.Therefore, for the data communication bus of transmission security related information also functional safety requirements.If use " safety after
The rudimentary state of a control of the hardwire of electric appliance " or " safety programmable logic controller (PLC) ", can satisfy functional safety and wants
It asks, but the cost installed and safeguarded is all very high, and reconfigures systematic comparison trouble, flexibility is poor.
The prior art is primarily present following some disadvantages：
(1) information transmission bus used by most high altitude operation vehicle controls does not meet wanting for safety bus
It asks.
(2) although can satisfy functional safety requirement by the way of redundant CAN bus, this is but also control system
Route becomes complicated, economic cost increases.
Summary of the invention
In view of the above technical problem, the present invention provides a kind of engineering machinery method of controlling security, system and engineering machinery,
Same root safe communication bus transmission security related information and non-safety-related information can be used.
According to an aspect of the present invention, a kind of engineering machinery safety control system, including turntable safety governor are provided
With safe input/output module of getting off, wherein：
Safe input/output module of getting off is connect by the first safe communication bus with turntable safety governor；
Security related information and non-safety-related information are transmitted by the first safe communication bus.
In one embodiment of the invention, the system also includes the first electrical components, wherein：
First electrical component is connect by signal wire with safe input/output module of getting off；
First electrical component is safety-related element, and the signal of the first electrical component belongs to security related information；
The signal of first electrical component is transmitted according to safe communication bus agreement by the first safe communication bus.
In one embodiment of the invention, the system also includes the second electrical components, wherein：
Second electrical component is connect by signal wire with safe input/output module of getting off；
Second electrical component is non-safety-related element, and the signal of the second electrical component belongs to non-safety-related information；
The signal of second electrical component is transmitted according to communication bus protocol by the first safe communication bus.
In one embodiment of the invention, the system also includes third electrical components, wherein：
Third electrical component is connect by the first safe communication bus with safe input/output module of getting off.
In one embodiment of the invention, the system also includes the 4th electrical components, wherein：
4th electrical component is connect by the second safe communication bus with turntable safety governor；
4th electrical component is safety-related element, and the signal of the 4th electrical component belongs to security related information；
The signal of 4th electrical component is transmitted according to safe communication bus agreement by the second safe communication bus.
In one embodiment of the invention, the system also includes the 5th electrical components, wherein：
5th electrical component is connect by signal wire with turntable safety governor.
In one embodiment of the invention, the system also includes platform safety input/output modules, wherein：
Platform safety input/output module is connect by the second safe communication bus with turntable safety governor；
Security related information and non-safety-related information are transmitted by the second safe communication bus.
In one embodiment of the invention, the system also includes the 6th electrical components, wherein：
6th electrical component is connect by signal wire with platform safety input/output module；
6th electrical component is safety-related element, and the signal of the 6th electrical component belongs to security related information；
The signal of 6th electrical component is transmitted according to safe communication bus agreement by the second safe communication bus.
In one embodiment of the invention, the system also includes the 7th electrical components, wherein：
7th electrical component is connect by signal wire with platform safety input/output module；
7th electrical component is non-safety-related element, and the signal of the 7th electrical component belongs to non-safety-related information；
The signal of 7th electrical component is transmitted according to communication bus protocol by the second safe communication bus.
In one embodiment of the invention, the system also includes the 8th electrical components, wherein：
8th electrical component is connect by the second safe communication bus with platform safety input/output module.
According to another aspect of the present invention, a kind of engineering machinery is provided, including the engineering as described in above-mentioned any embodiment
Machine security control system.
According to another aspect of the present invention, a kind of engineering machinery method of controlling security is provided, including：
Turntable safety governor carries out data communication by the first safe communication bus and the first electrical component, wherein under
The safe input/output module of vehicle is connect by the first safe communication bus with turntable safety governor, and the first electrical component passes through
Signal wire is connect with safe input/output module of getting off；
Turntable safety governor carries out data communication by the first safe communication bus and the second electrical component, wherein the
Two electrical components are connect by signal wire with safe input/output module of getting off.
In one embodiment of the invention, the method also includes：
Third electrical component passes through the first safe communication bus and the first electrical component, the second electrical component and turntable safety
Controller carries out data communication, wherein third electrical component passes through the first safe communication bus and safe input/output mould of getting off
Block connection.
In one embodiment of the invention, security related information and non-safety-related information are total by the first secure communication
Line is transmitted, wherein the signal of the first electrical component belongs to security related information, and the signal of the first electrical component is according to safety
Communication bus protocol is transmitted by the first safe communication bus；The signal of second electrical component belongs to non-safety-related letter
Breath, the signal of the second electrical component are transmitted according to communication bus protocol by the first safe communication bus.
In one embodiment of the invention, the method also includes：
Turntable safety governor carries out data communication by the second safe communication bus and the 4th electrical component, wherein the
The signal of four electrical components belongs to security related information, and the signal of the 4th electrical component passes through the according to safe communication bus agreement
Two safe communication bus are transmitted；
Turntable safety governor carries out data communication by signal wire and the 5th electrical component.
In one embodiment of the invention, the method also includes：
Turntable safety governor carries out data communication by the second safe communication bus and the 6th electrical component, wherein flat
The safe input/output module of platform is connect by the second safe communication bus with turntable safety governor, and the 6th electrical component passes through
Signal wire is connect with platform safety input/output module；
Turntable safety governor carries out data communication by the second safe communication bus and the 7th electrical component, wherein the
Seven electrical components are connect by signal wire with platform safety input/output module.
In one embodiment of the invention, the method also includes：
8th electrical component is pacified by the second safe communication bus and the 6th electrical component, the 7th electrical component and turntable
Full controller carries out data communication, wherein the 8th electrical component passes through the second safe communication bus and platform safety input/output
Module connection.
In one embodiment of the invention, security related information and non-safety-related information are total by the second secure communication
Line is transmitted, wherein the signal of the 6th electrical component belongs to security related information, and the signal of the 6th electrical component is according to safety
Communication bus protocol is transmitted by the second safe communication bus；The signal of 7th electrical component belongs to non-safety-related letter
Breath, the signal of the 7th electrical component are transmitted according to communication bus protocol by the second safe communication bus.
The present invention makes to pacify by using safety governor, the safe input/output module of supporting safe communication bus agreement
Total correlation information and non-safety-related information, to simplify route, can be saved by same root communication bus cable transmission
Cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of engineering machinery safety control system one embodiment of the present invention.
Fig. 2 is the schematic diagram of one specific embodiment of engineering machinery safety control system of the present invention.
Fig. 3 is scheme of installation of the electrical component of the engineering machinery safety control system of Fig. 2 in engineering machinery.
Fig. 4 is the schematic diagram of engineering machinery method of controlling security one embodiment of the present invention.
Fig. 5 is the schematic diagram of another embodiment of engineering machinery method of controlling security of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the schematic diagram of engineering machinery safety control system one embodiment of the present invention.As shown in Figure 1, the engineering
Machine security control system includes turntable safety governor 18 and gets off safe input/output (I/O) module 12, wherein：
Safe input/output module 12 of getting off is connect by the first safe communication bus 17 with turntable safety governor 18.
Security related information and non-safety-related information can (the first secure communication be total by same root safety communication cable
Line 17) it is transmitted.
In one embodiment of the invention, the first safe communication bus 17 is pacified using based on CANopen Safety agreement
National Federation of Trade Unions's line is as data communication bus.CANopen Safety agreement is that CiA organizes a kind of peace worked out based on CANopen agreement
National Federation of Trade Unions's wire protocol, and have become EU criteria EN 50325-5:2010.CANopen Safety agreement allows safety-relevant communication
Using CANopen communication network, i.e., operational safety correlation and non-security communication data on the same network segment of CANopen.
In one embodiment of the invention, the first safe communication bus 17 is to get on and off to communicate CAN bus cable.
In one embodiment of the invention, safe input/output module 12 of getting off can select security performance grade to reach
To the safe I/O module of PLd；The safety governor that turntable safety governor 18 can select security performance grade to reach PLd.
Based on the engineering machinery safety control system that the above embodiment of the present invention provides, using based on CANopen Safety
Protocol security bus does not meet EN280 using single CAN bus as data communication bus, to solve:2013 pairs of high-altitudes
The problem of operation vehicle control functional safety requires.Since security related information in the present invention and non-safety-related information can be with
Cost is saved to simplify route by the same CAN bus network transmission.Also, Control system architecture of the invention
It is almost the same with the structure of existing CAN bus based control system, it is easy compatibility.
Engineering machinery safety control system of the invention is a part of the entire control system of engineering machinery, is for preventing
The case where system is caused danger, can be independent dedicated system, can also integrate with basic control system.
In one embodiment of the invention, the engineering machinery can be mobilecrane, lorry-mounted crane, stretch
The engineering machinery such as arm forklift, high-altitude operation vehicle.
Engineering machinery safety control system of the invention can ensure the functional safety of the controlled plants such as engineering machinery,
In, functional safety refers to the component part of general safety related with engineering machinery and work machine control system, it depends on
The correct enforcement of facility function is reduced in electrical/electronic/programmable electronic (E/E/PE) safety-related systems and Outer risks.
Below with reference to Fig. 2 and Fig. 3 embodiment to all parts of present invention engineering machinery safety control system shown in FIG. 1
It is described in further detail.
Fig. 2 is the schematic diagram of one specific embodiment of engineering machinery safety control system of the present invention.Work in Fig. 2 embodiment
Journey machinery is specially high-altitude operation vehicle.Fig. 3 is the electrical component of the engineering machinery safety control system of Fig. 2 in engineering machinery
Scheme of installation.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the first electrical component
100, wherein：The input port or output end that first electrical component 100 passes through signal wire and safe input/output module 12 of getting off
Mouth connection.First electrical component 100 is safety-related element, and the signal of the first electrical component 100 belongs to security related information.The
The signal of one electrical component 100 is transmitted according to safe communication bus agreement by the first safe communication bus 17.
In present invention specific embodiment shown in Fig. 2, the first electrical component 100 in Fig. 1 embodiment specifically be can wrap
Include scram button 9 of getting off, mode selection switch 8, supporting leg state detection sensor 11 and recovery position detection sensor 10.It gets off
Scram button 9, mode selection switch 8, supporting leg state detection sensor 11 and recovery position detection sensor 10 respectively with get off
The input port of safe input/output module 12 connects.Scram button 9, mode selection switch 8, the supporting leg state-detection of getting off pass
Sensor 11 and the signal of recovery position detection sensor 10 belong to safety-related signal, need according to CANopen Safety agreement
It is transmitted by the first safe communication bus (get on and off and communicate CAN bus cable) 17 with turntable safety governor 18.Such as figure
Shown in 3, supporting leg state detection sensor 11 is fixed on supporting leg 29.Recovery position detection sensor 10 is fixed on chassis 31.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the second electrical component
200, wherein：The input port or output end that second electrical component 200 passes through signal wire and safe input/output module 12 of getting off
Mouth connection；Second electrical component 200 is non-safety-related element, and the signal of the second electrical component 200 belongs to non-safety-related letter
Breath；The signal of second electrical component 200 is transmitted according to communication bus protocol by the first safe communication bus 17.
In present invention specific embodiment shown in Fig. 2, the second electrical component 200 in Fig. 1 embodiment specifically be can wrap
Include control cabinet rocking bar 14 of getting off, get off control cabinet button 15 and solenoid valve block 13 of getting off, wherein：Get off control cabinet rocking bar 14, under
Vehicle control cabinet button 15 is connected to the input port connection for safe input/output module 12 of getting off by signal wire.It gets off electromagnetism
Valve group 13 is connected to the output port for safe input/output module 12 of getting off by signal wire, and solenoid valve block of getting off 13 is by turntable
The control instruction control that safety governor 18 is transmitted by the first safe communication bus 17；Turntable safety governor 18 can pass through
Solenoid valve block 13 of getting off is controlled, is realized to control the flexible of supporting leg 29 as shown in Figure 3.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include third electrical component
300, wherein：Third electrical component 300 is connect by the first safe communication bus 17 with safe input/output module 12 of getting off.
In present invention specific embodiment shown in Fig. 2, the third electrical component 300 in Fig. 1 embodiment is specifically as follows
Get off control cabinet display 16, control cabinet display 16 of getting off by the first safe communication bus 17 and get off it is safe input/it is defeated
Module 12 connects out.Control cabinet display 16 of getting off is for showing the number sended over by safe input/output module 12 of getting off
According to, for example, scram button 9 of getting off, mode selection switch 8, get off control cabinet rocking bar 14 and control cabinet button 15 of getting off input letter
Number；The real-time data collection of supporting leg state detection sensor 11 and recovery position detection sensor 10；Or turntable security control
Device 18 is sent to the control instruction for solenoid valve block 13 of getting off.
In present invention specific embodiment shown in Fig. 3, engineering machinery safety control system can also include control of getting off
Case 30, wherein it is described get off control cabinet 30 can by safe input/output module 12 of getting off, control cabinet rocking bar 14 of getting off, get off
Control cabinet button 15, scram button 9 of getting off, mode selection switch 8 and control cabinet display 16 of getting off composition.As shown in figure 3, institute
It states control cabinet 30 of getting off and is mounted on chassis 31, the control cabinet position consistency of getting off with existing high altitude operation vehicle control.
As a result, in the above embodiment of the present invention the first electrical component 100 security related information and the second electrical component
200 non-safety-related information can be transmitted by same root safety communication cable (the first safe communication bus 17).
Security related information and non-safety-related information both can be in the first electrical component 100, the second electrical component 200 and turntable safety
It is transmitted between controller 18；Security related information and non-safety-related information can also be transferred to get off control cabinet display 16 into
Row display.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the 4th electrical component
400, wherein：4th electrical component 400 is connect by the second safe communication bus 20 with turntable safety governor 18.4th is electrical
Element 400 is safety-related element, and the signal of the 4th electrical component 400 belongs to security related information.4th electrical component 400
Signal is transmitted according to safe communication bus agreement by the second safe communication bus 20.
In present invention specific embodiment shown in Fig. 2, the 4th electrical component 400 in Fig. 1 embodiment specifically be can wrap
Include turntable angular transducer 7, extension means obliquity sensor 5 and extension means linear transducer 6.Turntable angular transducer 7 is stretched
The information that exhibition mechanism obliquity sensor 5 and extension means linear transducer 6 are sent belongs to security related information, therefore, three
Sensor is all made of the CAN communication interface for supporting CANopen Safety agreement, (is got on the bus by the second safe communication bus 20
Communication CAN bus cable) it is communicated with turntable safety governor 18.
As shown in figure 3, turntable safety governor 18 is fixed on the pedestal of turntable 27, system is controlled with existing high-altitude operation vehicle
The turntable controller position consistency of system.Turntable angular transducer 7 is mounted on the angle measurement gear for driving gear to engage with turntable 27,
The rotation angle of measuring circurmarotate 27.Extension means obliquity sensor 5 and extension means linear transducer 6 are fixed on extension means 26
Fixed arm on, for measuring the change angle and spread length of extension means 26.Three of the above sensor is using PLd grade
Sensor forms position detecting system, detects the position of workbench, prevents it beyond safety work space.Three sensors
Linear transducer, obliquity sensor and the turntable angle sensor position one of installation site and existing high altitude operation vehicle control
It causes.Since three sensor positions are dispersed, so connecting using CAN bus, route can simplify.
In another embodiment of the invention, two-in-one 2 He of sensor alternate figures of length angle of PLd grade can be used
The linear transducer and angular transducer of Fig. 3 PLd grade used in the examples, to realize work-table position detection function.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the 5th electrical component
500, wherein：5th electrical component 500 is connect by signal wire with turntable safety governor 18.In present invention tool shown in Fig. 2
In body embodiment, the 5th electrical component 500 in Fig. 1 embodiment is specifically as follows turntable solenoid valve block 19, turntable solenoid valve block
19 control instruction for being sent according to turntable safety governor 18, control turntable motor, amplitude oil cylinder, telescopic oil cylinder and leveling
Oil cylinder.
For engineering machinery such as high-altitude operation vehicles, engineering machinery safety control system shown in FIG. 1 can also include platform
Safe input/output module 1, wherein：Platform safety input/output module 1 is pacified by the second safe communication bus 20 with turntable
Full controller 18 connects.Security related information and non-safety-related information can be passed by the second safe communication bus 20
It is defeated.Platform safety input/output module 1 uses the module of PLd grade.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the 6th electrical component
600, wherein：6th electrical component 600 passes through the input port or output end of signal wire and platform safety input/output module 1
Mouth connection.6th electrical component 600 is safety-related element, and the signal of the 6th electrical component 600 belongs to security related information.The
The signal of six electrical components 600 is transmitted according to safe communication bus agreement by the second safe communication bus 20.
In present invention specific embodiment shown in Fig. 2, the 6th electrical component 600 in Fig. 1 embodiment may include putting down
Platform scram button 2, platform obliquity sensor 3 and platform load transducer 4, wherein：Platform scram button 2, platform inclination angle sensing
Device 3 and platform load transducer 4 are connect by signal wire with the input port of platform safety input/output module 1.Such as Fig. 3 institute
Show, platform obliquity sensor 3, platform load sensor 4 are mounted on platform 32.Platform obliquity sensor 3, platform load sensing
The sensor of the selection PLd grade of device 4.The signal of platform obliquity sensor 3, platform load sensor 4 and platform scram button 2 is
Safety-related signal, need according to the second safe communication bus of CANopen Safety agreement 20 and turntable safety governor 18 into
Row transmission.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the 7th electrical component
700, wherein：7th electrical component 700 is connect by signal wire with platform safety input/output module 1.7th electrical component
700 be non-safety-related element, and the signal of the 7th electrical component 700 belongs to non-safety-related information.7th electrical component 700
Signal is transmitted according to the communication bus protocol of such as CANopen agreement by the second safe communication bus 20.
In present invention specific embodiment shown in Fig. 2, the 7th electrical component 700 in Fig. 1 embodiment may include putting down
Platform control cabinet rocking bar 23, platform courses case button 24 and electric motor control contactor 22, wherein：Platform courses case rocking bar 23, platform
Control cabinet button 24 is connect by signal wire with the input port of platform safety input/output module 1.Electric motor control contactor 22
It is connect by signal wire with the output port of platform safety input/output module 1, electric motor control contactor 22 is according to turntable safety
Controller 18 controls the swing of workbench 32 by the control instruction that the second safe communication bus 20 transmits.Platform safety is defeated
Enter/output module 1 is used to acquire the information of input port, and it is transferred to turntable safety governor 18 by CAN bus；With
And the control instruction that turntable safety governor 18 is transmitted by CAN bus is received, and the control instruction is sent to motor control
Contactor 22 processed.
In present invention embodiment shown in FIG. 1, engineering machinery safety control system can also include the 8th electrical component
800, wherein：8th electrical component 800 is connect by the second safe communication bus 20 with platform safety input/output module 1.?
In present invention specific embodiment shown in Fig. 2, the 8th electrical component 800 in Fig. 1 embodiment can show for platform courses case
Screen 21.Platform courses case display screen 21 can show the data sended over by platform safety input/output module 1, such as flat
The input signal of platform control cabinet rocking bar 23, platform courses case button 24, platform scram button 2；Platform obliquity sensor 3 and platform
The real-time data collection of load transducer 4；Or turntable safety governor 18 is sent to the control of electric motor control contactor 22 and refers to
It enables.
In present invention specific embodiment shown in Fig. 3, engineering machinery safety control system can also include platform courses
Case 25, wherein platform courses case 25 can be shaken by platform safety input/output module 1, platform scram button 2, platform courses case
Bar 23, platform courses case button 24, platform courses case display screen 21 form.As shown in figure 3, platform courses case 25 is fixed on work
On platform 32, platform courses case position consistency with existing high altitude operation vehicle control facilitates staff to operate.
Platform safety input/output module 1, turntable safety governor 18 and safety of getting off are defeated in the above embodiment of the present invention
Enter/output module 12 is all made of the module of PLd grade, interface and shape are identical as standard I/O module, but its hardware configuration is adopted
With Redundancy Design or real-time detection, keep its reliability higher.
Platform safety input/output module 1, turntable safety governor 18 and safety of getting off are defeated in the above embodiment of the present invention
Enter/output module 12 supports CANopen agreement and CANopen Safety agreement, therefore security related information and essential information
Can be by same CAN bus network transmission, i.e., each component need to only occupy a CAN communication interface, and the second secure communication is total
A piece CAN bus cable of line 20 and the first safe communication bus 17 needs, without redundant configuration.Therefore, of the invention
CAN bus network topology structure is consistent with the bus network topology structure of existing high altitude operation vehicle control, has very high
Compatibility.The wire laying mode of second safe communication bus 20 and the first safe communication bus 17 on the car body and existing high altitude operation
The CAN bus cable distribution mode of vehicle control is consistent.
First safe communication bus and the second safe communication bus of the above embodiment of the present invention are a kind of safety bus,
Middle safety bus is the safety-related Transmission system for realizing Safety-Related System security information reliable communicating, is realization system
The important component of allomeric function safety.
According to another aspect of the present invention, a kind of engineering machinery is provided, including the engineering as described in above-mentioned any embodiment
Machine security control system.
In one embodiment of the invention, the engineering machinery can be mobilecrane, lorry-mounted crane, stretch
The engineering machinery such as arm forklift, high-altitude operation vehicle.
In one embodiment of the invention, as shown in figure 3, the engineering machinery can also include driver's cabin 28.
The engineering machinery of the above embodiment of the present invention includes CAN bus based engineering machinery safety control system, thus
So that engineering machinery meets EN280:The requirement of 2013 safety-related systems functional safeties；Make security related information and non-safety-related
Information can save cost to simplify route by same single CAN bus cable transmission；CAN bus of the invention
Network topology structure is consistent with the bus network topology structure of existing work machine control system, CAN bus cable distribution mode
It is almost the same with controller, I/O module, the installation site of sensor and existing system, therefore there is very high compatibility, thus
Reduce improvement cost.
Fig. 4 is the schematic diagram of engineering machinery method of controlling security one embodiment of the present invention.Preferably, the present embodiment can be by
The engineering machinery safety control system of any of the above-described embodiment (such as Fig. 1 or Fig. 2 embodiment) of the present invention executes.This method packet
It includes：
Step 401, turntable safety governor 18 is counted by the first safe communication bus 17 with the first electrical component 100
According to communication, wherein safe input/output module 12 of getting off is connected by the first safe communication bus 17 with turntable safety governor 18
It connects, the first electrical component 100 is connect by signal wire with safe input/output module 12 of getting off.
Step 402, turntable safety governor 18 is counted by the first safe communication bus 17 with the second electrical component 200
According to communication, wherein the second electrical component 200 is connect by signal wire with safe input/output module 12 of getting off.
In one embodiment of the invention, the method can also include：Third electrical component 300 passes through the first safety
Communication bus 17 and the first electrical component 100, the second electrical component 200 and turntable safety governor 18 carry out data communication,
In, third electrical component 300 is connect by the first safe communication bus 17 with safe input/output module 12 of getting off.
In the above embodiment of the present invention, security related information and non-safety-related information pass through the first safe communication bus
17 are transmitted, wherein the signal of the first electrical component 100 belongs to security related information, and the signal of the first electrical component 100 is pressed
It is transmitted according to safe communication bus agreement by the first safe communication bus 17；The signal of second electrical component 200 belongs to non-
The signal of security related information, the second electrical component 200 is carried out according to communication bus protocol by the first safe communication bus 17
Transmission.
In one embodiment of the invention, the method can also include：Turntable safety governor 18 passes through the second peace
Full communication bus 20 and the 4th electrical component 400 carry out data communication, wherein the signal of the 4th electrical component 400 belongs to safety
The signal of relevant information, the 4th electrical component 400 is carried out according to safe communication bus agreement by the second safe communication bus 20
Transmission；Turntable safety governor 18 carries out data communication by signal wire and the 5th electrical component 500.
Fig. 5 is the schematic diagram of another embodiment of engineering machinery method of controlling security of the present invention.Preferably, the present embodiment can be by
The engineering machinery safety control system of any of the above-described embodiment (such as Fig. 1 or Fig. 2 embodiment) of the present invention executes.This method packet
It includes：
Step 501, turntable safety governor 18 is counted by the second safe communication bus 20 with the 6th electrical component 600
According to communication, wherein platform safety input/output module 1 is connected by the second safe communication bus 20 with turntable safety governor 18
It connects, the 6th electrical component 600 is connect by signal wire with platform safety input/output module 1.
Step 502, turntable safety governor 18 is counted by the second safe communication bus 20 with the 7th electrical component 700
According to communication, wherein the 7th electrical component 700 is connect by signal wire with platform safety input/output module 1.
Step 503, the 8th electrical component 800 passes through the 600, the 7th electricity of the second safe communication bus 20 and the 6th electrical component
Gas element 700 and turntable safety governor 18 carry out data communication, wherein the 8th electrical component 800 passes through the second secure communication
Bus 20 is connect with platform safety input/output module 1.
In the above embodiment of the present invention, security related information and non-safety-related information pass through the second safe communication bus
20 are transmitted, wherein the signal of the 6th electrical component 600 belongs to security related information, and the signal of the 6th electrical component 600 is pressed
It is transmitted according to safe communication bus agreement by the second safe communication bus 20；The signal of 7th electrical component 700 belongs to non-
The signal of security related information, the 7th electrical component 700 is carried out according to communication bus protocol by the second safe communication bus 20
Transmission.
The above embodiment of the present invention is used based on CANopen Safety protocol security bus as data communication bus, from
And it solves and does not meet EN280 using single CAN bus:2013 ask high altitude operation vehicle control functional safety requirement
Topic.Due to security related information in the present invention and non-safety-related information can by the same CAN bus network transmission, thus
Route is simplified, cost is saved.Also, Control system architecture of the invention and existing CAN bus based control system
Structure is almost the same, is easy compatibility.
In an embodiment of the invention, for Fig. 2 of the present invention and engineering machinery safety control system shown in Fig. 3, originally
The engineering machinery method of controlling security of invention can specifically include：
Step 11, obtain get off scram button 9, mode selection switch 8, get off control cabinet rocking bar 14 and get off control cabinet by
The input signal of button 15 and the real-time data collection of supporting leg state detection sensor 11 and recovery position detection sensor 10.
Step 12, according to the input signal and real-time data collection of step 11 acquisition, the first control instruction is determined.
Step 13, the first control instruction is sent to solenoid valve block 13 of getting off, so that solenoid valve block 13 of getting off is according to first
Control instruction controls the flexible of supporting leg 29.
Thus above-mentioned engineering machinery safety control system of the invention can be examined by user input signal and supporting leg state
Survey the flexible of the real-time acquisition signal control supporting leg of sensor and recovery position detection sensor.
In an embodiment of the invention, for Fig. 2 of the present invention and engineering machinery safety control system shown in Fig. 3, originally
The engineering machinery method of controlling security of invention can also include：
Step 21, obtain get off scram button 9, mode selection switch 8, get off control cabinet rocking bar 14 and get off control cabinet by
The input signal and turntable angular transducer 7 of button 15, extension means obliquity sensor 5 and extension means linear transducer 6
Real-time data collection.
Step 22, according to the input signal and real-time data collection of step 21 acquisition, the second control instruction is determined.
Step 23, the second control instruction is sent to turntable solenoid valve block 19, so that turntable solenoid valve block 19 is according to second
Control instruction controls the operation of turntable motor, amplitude oil cylinder, telescopic oil cylinder and leveling cyclinder, and then controls to turntable 27 and stretching, extension
The movement of mechanism 26.
Thus above-mentioned engineering machinery safety control system of the invention can be passed by user input signal and turntable angle
The real-time acquisition signal of sensor 7, extension means obliquity sensor 5 and extension means linear transducer 6 is realized to turntable 27 and is stretched
Open up the control of mechanism 26.
In an embodiment of the invention, for Fig. 2 of the present invention and engineering machinery safety control system shown in Fig. 3, originally
The engineering machinery method of controlling security of invention can also include：
Step 31, the input signal of platform courses case rocking bar 23, platform courses case button 24, platform scram button 2 is obtained,
And the real-time data collection of platform obliquity sensor 3 and platform load transducer 4.
Step 32, according to the input signal and real-time data collection of step 31 acquisition, third control instruction is determined.
Step 33, third control instruction is sent to electric motor control contactor 22, so as to 22 basis of electric motor control contactor
The swing of third control instruction control control workbench 32.
Thus above-mentioned engineering machinery safety control system of the invention can be passed by user input signal and platform inclination angle
The swing of the real-time acquisition signal of sensor 3 and platform load transducer 4 control workbench 32.
So far, the present invention is described in detail.In order to avoid covering design of the invention, it is public that this field institute is not described
The some details known.Those skilled in the art as described above, completely it can be appreciated how implementing technology disclosed herein
Scheme.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (17)
1. a kind of engineering machinery safety control system, which is characterized in that including turntable safety governor and get off it is safe input/it is defeated
Module out, wherein：
Safe input/output module of getting off is connect by the first safe communication bus with turntable safety governor, wherein the first peace
Full communication bus is the communication controler local area network CAN bus cable that gets on and off；
Security related information and non-safety-related information are transmitted by the first safe communication bus；
Wherein, the system also includes platform safety input/output modules, wherein：
Platform safety input/output module is connect by the second safe communication bus with turntable safety governor；
Security related information and non-safety-related information are transmitted by the second safe communication bus.
2. system according to claim 1, which is characterized in that it further include the first electrical component, wherein：
First electrical component is connect by signal wire with safe input/output module of getting off；
First electrical component is safety-related element, and the signal of the first electrical component belongs to security related information；
The signal of first electrical component is transmitted according to safe communication bus agreement by the first safe communication bus.
3. system according to claim 2, which is characterized in that it further include the second electrical component, wherein：
Second electrical component is connect by signal wire with safe input/output module of getting off；
Second electrical component is non-safety-related element, and the signal of the second electrical component belongs to non-safety-related information；
The signal of second electrical component is transmitted according to communication bus protocol by the first safe communication bus.
4. system according to claim 3, which is characterized in that it further include third electrical component, wherein：
Third electrical component is connect by the first safe communication bus with safe input/output module of getting off.
5. system described in any one of -4 according to claim 1, which is characterized in that it further include the 4th electrical component, wherein：
4th electrical component is connect by the second safe communication bus with turntable safety governor；
4th electrical component is safety-related element, and the signal of the 4th electrical component belongs to security related information；
The signal of 4th electrical component is transmitted according to safe communication bus agreement by the second safe communication bus.
6. system according to claim 5, which is characterized in that it further include the 5th electrical component, wherein：
5th electrical component is connect by signal wire with turntable safety governor.
7. system described in any one of -4 according to claim 1, which is characterized in that it further include the 6th electrical component, wherein：
6th electrical component is connect by signal wire with platform safety input/output module；
6th electrical component is safety-related element, and the signal of the 6th electrical component belongs to security related information；
The signal of 6th electrical component is transmitted according to safe communication bus agreement by the second safe communication bus.
8. system according to claim 7, which is characterized in that it further include the 7th electrical component, wherein：
7th electrical component is connect by signal wire with platform safety input/output module；
7th electrical component is non-safety-related element, and the signal of the 7th electrical component belongs to non-safety-related information；
The signal of 7th electrical component is transmitted according to communication bus protocol by the second safe communication bus.
9. system according to claim 8, which is characterized in that it further include the 8th electrical component, wherein：
8th electrical component is connect by the second safe communication bus with platform safety input/output module.
10. a kind of engineering machinery, which is characterized in that controlled safely including engineering machinery as claimed in any one of claims 1-9 wherein
System processed.
11. a kind of engineering machinery method of controlling security, which is characterized in that including：
Turntable safety governor carries out data communication by the first safe communication bus and the first electrical component, wherein peace of getting off
Full input/output module is connect by the first safe communication bus with turntable safety governor, and the first electrical component passes through signal
Line is connect with safe input/output module of getting off；
Turntable safety governor carries out data communication by the first safe communication bus and the second electrical component, wherein the second electricity
Gas element is connect by signal wire with safe input/output module of getting off；
Wherein, the method also includes：
Security related information and non-safety-related information are transmitted by the second safe communication bus, wherein platform safety is defeated
Enter/output module connect by the second safe communication bus with turntable safety governor.
12. according to the method for claim 11, which is characterized in that further include：
Third electrical component passes through the first safe communication bus and the first electrical component, the second electrical component and turntable security control
Device carries out data communication, wherein third electrical component is connected by the first safe communication bus and safe input/output module of getting off
It connects.
13. method according to claim 11 or 12, which is characterized in that
Security related information and non-safety-related information are transmitted by the first safe communication bus, wherein the first electrical member
The signal of part belongs to security related information, and the signal of the first electrical component is logical by the first safety according to safe communication bus agreement
Letter bus is transmitted；The signal of second electrical component belongs to non-safety-related information, and the signal of the second electrical component is according to logical
Letter bus protocol is transmitted by the first safe communication bus.
14. method according to claim 11 or 12, which is characterized in that further include：
Turntable safety governor carries out data communication by the second safe communication bus and the 4th electrical component, wherein the 4th electricity
The signal of gas element belongs to security related information, and the signal of the 4th electrical component passes through the second peace according to safe communication bus agreement
Full communication bus is transmitted；
Turntable safety governor carries out data communication by signal wire and the 5th electrical component.
15. method according to claim 11 or 12, which is characterized in that further include：
Turntable safety governor carries out data communication by the second safe communication bus and the 6th electrical component, wherein the 6th electricity
Gas element is connect by signal wire with platform safety input/output module；
Turntable safety governor carries out data communication by the second safe communication bus and the 7th electrical component, wherein the 7th electricity
Gas element is connect by signal wire with platform safety input/output module.
16. according to the method for claim 15, which is characterized in that further include：
8th electrical component is controlled safely by the second safe communication bus and the 6th electrical component, the 7th electrical component and turntable
Device processed carries out data communication, wherein the 8th electrical component passes through the second safe communication bus and platform safety input/output module
Connection.
17. according to the method for claim 16, which is characterized in that
The signal of 6th electrical component belongs to security related information, and the signal of the 6th electrical component is according to safe communication bus agreement
It is transmitted by the second safe communication bus；The signal of 7th electrical component belongs to non-safety-related information, the 7th electrical member
The signal of part is transmitted according to communication bus protocol by the second safe communication bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209437.5A CN105867268B (en) | 2016-04-06 | 2016-04-06 | Engineering machinery method of controlling security, system and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209437.5A CN105867268B (en) | 2016-04-06 | 2016-04-06 | Engineering machinery method of controlling security, system and engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105867268A CN105867268A (en) | 2016-08-17 |
| CN105867268B true CN105867268B (en) | 2018-11-23 |
Family
ID=56627296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610209437.5A Active CN105867268B (en) | 2016-04-06 | 2016-04-06 | Engineering machinery method of controlling security, system and engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105867268B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106829812B (en) * | 2017-01-10 | 2022-11-15 | 徐工消防安全装备有限公司 | Aerial work platform electric control system, electric control method and aerial work platform |
| CN109721011B (en) * | 2019-01-15 | 2020-08-07 | 江苏徐工工程机械研究院有限公司 | Modular redundancy control method and system for aerial work vehicle |
| CN111007787B (en) * | 2019-12-26 | 2021-05-04 | 北京海益同展信息科技有限公司 | Electrical control system and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202492295U (en) * | 2012-03-08 | 2012-10-17 | 徐工集团工程机械股份有限公司 | Network control system of crawler crane |
| CN203259883U (en) * | 2013-05-30 | 2013-10-30 | 长沙中联消防机械有限公司 | Elevating fire-fighting truck and electric control system thereof |
| CN104364720A (en) * | 2012-05-14 | 2015-02-18 | 巴鲁夫公司 | Control device for controlling a safety device, and use of an IO link for transmission of a safety protocol to a safety device |
| CN205540056U (en) * | 2016-04-06 | 2016-08-31 | 徐工集团工程机械有限公司 | Engineering machine tool safety control system and engineering machine tool |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013076173A1 (en) * | 2011-11-22 | 2013-05-30 | Hms Industrial Networks Ab | Safety system |
-
2016
- 2016-04-06 CN CN201610209437.5A patent/CN105867268B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202492295U (en) * | 2012-03-08 | 2012-10-17 | 徐工集团工程机械股份有限公司 | Network control system of crawler crane |
| CN104364720A (en) * | 2012-05-14 | 2015-02-18 | 巴鲁夫公司 | Control device for controlling a safety device, and use of an IO link for transmission of a safety protocol to a safety device |
| CN203259883U (en) * | 2013-05-30 | 2013-10-30 | 长沙中联消防机械有限公司 | Elevating fire-fighting truck and electric control system thereof |
| CN205540056U (en) * | 2016-04-06 | 2016-08-31 | 徐工集团工程机械有限公司 | Engineering machine tool safety control system and engineering machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105867268A (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105867268B (en) | Engineering machinery method of controlling security, system and engineering machinery | |
| KR101914531B1 (en) | Fire alarm communication method based on 3-unit chassis structure of independent module combination | |
| CN205721346U (en) | A kind of electric intelligent star-like communications network system of automobile based on vehicle-mounted Ethernet | |
| CN104460474A (en) | Universal ground monitoring system for unmanned aerial vehicle | |
| CN103792913A (en) | Control system and control method for line concentration of lifting transversely-moving stereo garage | |
| CN101840629A (en) | Monitoring system and method of aerobridge | |
| CN107539926B (en) | High-altitude operation vehicle control method, high-altitude operation vehicle dedicated control device and system | |
| CN201307060Y (en) | OBD communication diagnostic test station | |
| CN205540056U (en) | Engineering machine tool safety control system and engineering machine tool | |
| CN212364826U (en) | Data acquisition terminal and oil gas recovery on-line monitoring system | |
| CN104140046A (en) | Method and controller applied to communication of crane as well as crane | |
| CN207274971U (en) | A kind of more rotor electric lifts and its system | |
| CN203038096U (en) | Device for wireless adjustment of failure diagnosis | |
| CN202828079U (en) | Propulsion control system based on double-redundancy controller | |
| CN201681296U (en) | Boarding bridge monitoring system | |
| CN208046635U (en) | power control communication architecture, power control unit | |
| CN206038854U (en) | Defective switch collection system | |
| CN113867247A (en) | Bus type switching value acquisition system and method | |
| CN208036003U (en) | power control communication architecture, power control unit | |
| CN107193233A (en) | A kind of functional safety current input module of mixed architecture | |
| CN208036002U (en) | power control communication architecture, power control unit | |
| CN208759556U (en) | Modularization crusing robot and its system | |
| CN208569330U (en) | A kind of interface circuit of monitoring equipment, monitoring equipment and unmanned plane | |
| CN213937972U (en) | Cabin monitoring and alarming system with network defense function | |
| CN201839312U (en) | Remote monitoring terminal capable of realizing multi-angle monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190415 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: Jiangsu Xugong Engineering Machinery Research Institute Co., Ltd. Address before: 221004 Industrial Zone of Xuzhou Economic Development Zone, Jiangsu Province Patentee before: XCMG Group Engineering Machine Co., Ltd. |
|
| TR01 | Transfer of patent right |